Although we do not assume that these dense reward functions induce optimal policies, handcrafting them requires a considerable engineering burden [1]}. To overcome this and address new challenges whenever the case, we suggest future research consider mimicking the behavioral policy assuming a goal-oriented approach. The goals, for instance, could be designed to meet certain tank levels by associating them with time windows, targeting the behavior observed in Figures REF  REF  REF .
\(r_t = e^{1/(-Q_{t}/kW_{t})} - B*\psi + \log (1/(P + \omega ))\) 
\(r_t = -e^{(-1/kW_{t})} - B*\psi + \log (1/(P + \omega ))\) 
